US10520912B2 - Robot controller having function that simplifies learning, and robot control method - Google Patents

Robot controller having function that simplifies learning, and robot control method Download PDF

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Publication number
US10520912B2
US10520912B2 US15/815,893 US201715815893A US10520912B2 US 10520912 B2 US10520912 B2 US 10520912B2 US 201715815893 A US201715815893 A US 201715815893A US 10520912 B2 US10520912 B2 US 10520912B2
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robot
learning
trajectory
relearning
operator
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US20180164773A1 (en
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Kaimeng Wang
Shuusuke WATANABE
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Fanuc Corp
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Fanuc Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40382—Limit allowable area where robot can be teached
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40385—Compare offline teached point with online teached point, modify rest as function of error
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Definitions

  • the present invention relates to a robot controller having a function that simplifies learning and to a robot control method.
  • a motor In a robot controlled by an operation program, generally, a motor is controlled in accordance with command values included in the operation program, and the robot is moved so as to trace a commanded trajectory taught with the operation program.
  • command values included in the operation program
  • the robot is moved so as to trace a commanded trajectory taught with the operation program.
  • a motor cannot track the command values due to backlash, friction, etc., in each joint of the robot, and the actual position of the robot (the actual trajectory) contains error with respect to the commanded trajectory.
  • JP 2015-221491 A discloses a robot control method including: a step of generating a first trajectory representing an actual position of a tool center point by launching a user program to move a robot along a first continuous programmed path; a step of calculating a path deviation between the first continuous programmed path and the first trajectory; a step of generating a corrected user program by adjusting the user program by a calculated amount equivalent to the path deviation; a step of saving the first trajectory representing the actual position of the tool center point in a memory device; a step of generating a second trajectory representing an actual position of the tool center point by launching the corrected user program to move the robot along a second continuous programmed path; and a step of displaying the first trajectory and the second trajectory.
  • JP 2015-168053 A discloses a robot controller that controls a robot operated in a predetermined work region while correcting its own position and orientation, the robot controller including: a storage unit that stores a reference operation pattern of the robot; an input unit that specifies at least one of a work start region where the operation of the robot based on the reference operation pattern is started and a work end region where the operation of the robot based on the reference operation pattern ends; an automatic generation unit that automatically generates a plurality of operation patterns for the robot on the basis of division regions obtained by dividing the work region specified by the input unit at a predetermined resolution and the reference operation pattern stored in the storage unit; and a learning control unit that, for each of the operation patterns automatically generated by the automatic generation unit, learns an operation acceleration rate for changing a speed or an acceleration and speeding up the operation of the robot.
  • JP 2003-044102 A discloses a learning control method for a learning control system.
  • the system includes a memory that stores data necessary for learning control, a means for dividing and using the memory into several regions, a means for replacing data in a region specified by an operation program, and a control unit.
  • the control unit iterates trials so that the output of a control target follows a target command.
  • it is determined whether or not a command has been inputted to the control unit, and a point in time when a result of the determination matches a learning start command received by the learning control system is taken as a learning starting point.
  • One aspect of the present disclosure is a robot controller configured to control operations of a robot in accordance with command values of a program, the controller including: a learning section configured to carry out learning of detecting a deviation between a commanded trajectory representing a position of the robot generated according to the command values and an operation trajectory representing an actual position where the robot has moved, and generate a corrected program by adjusting the commanded trajectory; a saving section configured to save the corrected program; and a relearning section configured to carry out relearning on a relearning location, the relearning location being a part of the operation trajectory designated by an operator.
  • Another aspect of the present disclosure is a robot control method of controlling operations of a robot in accordance with command values of a program, the method including: carrying out learning of detecting a deviation between a commanded trajectory representing a position of the robot generated according to the command values and an operation trajectory representing an actual position where the robot has moved, and generating a corrected program by adjusting the commanded trajectory; saving the corrected program; and carrying out relearning on a relearning location, the relearning location being a part of the operation trajectory designated by an operator.
  • FIG. 1 is a diagram illustrating an example of learning control carried out by a robot controller according to an embodiment of the present invention
  • FIG. 2 is a function block diagram including the robot controller of FIG. 1 ;
  • FIG. 3 is a flowchart illustrating an example of processing carried out by the robot controller of FIG. 1 .
  • FIG. 1 is a diagram illustrating a robot controller 10 according to an embodiment of the present invention, a robot (mechanical unit) 12 controlled by the robot controller 10 , and a teaching pendant 16 used when an operator 14 teaches or operates the robot 12 .
  • FIG. 1 also illustrates an example of learning control carried out by the robot controller 10 .
  • the robot 12 is configured to irradiate a laser beam while moving along an arc or circular path, and cut a circular hole in a workpiece to be processed.
  • the robot controller 10 also has a learning function for detecting a deviation in an operation trajectory 20 (the solid line) of the robot 12 relative to a commanded trajectory (arc) 18 indicated by the broken line and adjusting the commanded trajectory on the basis of the detected deviation.
  • FIG. 2 is a function block diagram including the robot controller 10 , the robot 12 , and the teaching pendant 16 .
  • the robot controller 10 is, for example, a programmable controller, and is configured to control the operation of the robot 12 in accordance with command values included in a program.
  • the robot controller 10 includes: a storage device (saving section) 22 such as a memory; a processing unit 24 , such as a processor or a CPU, having functions pertaining to operation control and/or learning control for the robot 12 (corresponding to a learning section and/or a relearning section described later); an interface module 28 for communicating with a network 26 such as an intranet or the Internet; and a data conversion module 30 configured to carry out data conversion between the interface module 28 and the storage device 22 .
  • a storage device (saving section) 22 such as a memory
  • a processing unit 24 such as a processor or a CPU, having functions pertaining to operation control and/or learning control for the robot 12 (corresponding to a learning section and/or a relearning section
  • the storage device 22 can also store various types of variables, a program for the teaching pendant (TP program), a program containing command values for controlling the operation of the robot, settings pertaining to the robot system of FIG. 1 (system settings), and a history of errors (an error log), etc.
  • TP program program for the teaching pendant
  • system settings system settings
  • an error log a history of errors
  • the robot 12 is, for example, an articulated robot having a plurality of axes.
  • the robot 12 has a sensor 32 for measuring/obtaining an operation trajectory (e.g. of a tool center point) of the robot 12 when the above-described arc operation is carried out, and the sensor 32 has, for example, a pulse coder or encoder provided at each axis of the robot 12 .
  • the teaching pendant 16 is, for example, a portable operation panel that can be carried and operated by the operator 14 as illustrated in FIG. 1 , and is connected to the robot controller 10 with a wire or wirelessly.
  • the teaching pendant 16 has an operating panel (display) 34 , such as a touch panel, that an operator can use to teach while viewing, instruct a learning location, which will be described later.
  • a remote computer 36 such as a personal computer can be connected to the network 26 .
  • the remote computer 36 has a user interface 38 , such as a keyboard, through which an operator can make operations such as inputs, and a communication module 40 for data communication or data exchange with the network 26 .
  • step S 1 learning for arc operation carried out by the robot 12 , as illustrated in FIG. 1 , is carried out.
  • the program is then corrected by adjusting the commanded trajectory.
  • Various types of machine learning such as supervised learning, unsupervised learning, semi-supervised learning, reinforcement learning, transduction, or multitask learning, can be used as a specific example of a learning control method for learning the commanded trajectory (adjusting the operation trajectory), and the operator can designate which learning method to use.
  • the operating panel 34 of the teaching pendant 16 , the user interface 38 of the remote computer or an input section 42 of the robot controller 10 , etc. can be used as an example of a designating section through which the operator makes the designation, but another means may be used instead.
  • step S 2 Upon the learning being carried out, taught position data is corrected, and the deviation in the operation trajectory relative to the commanded trajectory is corrected by operation control based on the corrected position data (program) (step S 2 ).
  • step S 3 the operation trajectory corrected on the basis of the corrected program is displayed in the operating panel 34 , etc., preferably along with the commanded trajectory, as illustrated in FIG. 1 .
  • step S 4 The operator determines whether or not the operation trajectory (actual trajectory) is a desired shape on the basis of the displayed learning result (step S 4 ).
  • the operator adopts (selects) the current learning result by operating the teaching pendant 16 .
  • the robot controller 10 saves the adopted learning result (the corrected program) as learning data in the storage device 22 , etc. (step S 5 ). Note that in step S 4 , whether the error between the operation trajectory and the commanded trajectory is within a predetermined target value may be automatically calculated and outputted (displayed).
  • the operator designates a part of the operation trajectory to be relearned (step S 6 ).
  • the operation trajectory 20 deviates greatly from a perfect circle (the commanded trajectory) in an upper-right part of the arc, but the other parts can be determined to have no problems.
  • the operator makes a touch operation, etc., on an operating screen of the operating panel 34 , etc., so as to designate/input a region 44 as a location to be relearned, which surrounds the upper-right part.
  • Another suitable means such as the user interface 38 of the remote computer or the input section 42 of the robot controller 10 , can be used for the operating screen instead of the operating panel 34 of the teaching pendant 16 .
  • the operating panel 34 of the teaching pendant 16 is best suited to on-site usage.
  • the robot controller 10 carries out relearning only for the trajectory contained within the designated region 44 (a relearning location) (step S 7 ).
  • the processing of step S 2 and on is then iterated. This makes it possible to carry out learning only on parts to be learned, rather than carrying out learning on the entire trajectory, and thus an ideal trajectory desired by the operator can be learned in a short amount of time.
  • an arc is described as an example of the commanded trajectory in the present embodiment, it is obvious that the present embodiment can be similarly applied in a case where the commanded trajectory has a different shape.
  • the operator designates the location to be corrected, and partial learning is carried out on that location. This makes it possible to carry out learning that is efficient overall. In other words, even after learning has been carried out, a trajectory ideal for the operator can be obtained by designating a location to be further relearned and feeding that location back into the robot to carry out relearning. Further, the operator may judge whether or not each learning result is acceptable (OK or NG), and accumulated/statistical results of the judgment by the operator may be fed back to the robot.
  • the operator can carry out the operations visually and easily.
  • the time of a learning adjustment task can be shortened, and the task can be simplified.
US15/815,893 2016-12-13 2017-11-17 Robot controller having function that simplifies learning, and robot control method Active 2038-02-24 US10520912B2 (en)

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JP2016241632A JP6469069B2 (ja) 2016-12-13 2016-12-13 学習を容易化する機能を備えたロボット制御装置、及びロボット制御方法
JP2016-241632 2016-12-13

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DE (1) DE102017011251B4 (zh)

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JP6836571B2 (ja) * 2018-11-14 2021-03-03 ファナック株式会社 ロボット装置
CN109814434B (zh) * 2018-12-20 2020-02-21 北京华航唯实机器人科技股份有限公司 控制程序的校准方法及装置
JP7117237B2 (ja) * 2018-12-27 2022-08-12 川崎重工業株式会社 ロボット制御装置、ロボットシステム及びロボット制御方法
DE102019101040A1 (de) * 2019-01-16 2020-07-16 Valeo Schalter Und Sensoren Gmbh Verfahren zum Trainieren einer Trajektorie für ein Fahrzeug, sowie elektronisches Fahrzeugführungssystem
DE102019105820A1 (de) * 2019-03-07 2020-09-10 Matheus Service GmbH Verfahren, System sowie nichtflüchtiges Speichermedium
JP7048539B2 (ja) * 2019-04-26 2022-04-05 ファナック株式会社 振動表示装置、動作プログラム作成装置、およびシステム
WO2021106237A1 (ja) * 2019-11-25 2021-06-03 三菱電機株式会社 制御装置及びロボットシステム
US20210342736A1 (en) * 2020-04-30 2021-11-04 UiPath, Inc. Machine learning model retraining pipeline for robotic process automation
CN111890350A (zh) * 2020-06-12 2020-11-06 深圳先进技术研究院 机器人及其控制方法、计算机可读存储介质

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JP6469069B2 (ja) 2019-02-13
DE102017011251B4 (de) 2022-03-03
JP2018094677A (ja) 2018-06-21
CN108214485A (zh) 2018-06-29
DE102017011251A1 (de) 2018-06-14
US20180164773A1 (en) 2018-06-14
CN108214485B (zh) 2020-03-13

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